一种用于水下目标跟踪和定位的动态视觉系统

Proceedings of the 2004 International Symposium on Underwater Technology (IEEE Cat. No.04EX869) Pub Date : 2004-04-20 DOI:10.1109/UT.2004.1405551

S. Cheng, Huai-Wen Hsu, Shiao-Chung Cheng

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引用次数: 1

摘要

我们描述了水下跨距离高精度三维计量利用一对视频摄像机水下航行器应用的发展。该方法的新颖之处在于:(1)对透镜系统和周围水引起的图像非线性畸变进行多项式表示;(2)将摄影测量束平差技术应用于水下测距;(3)提出了一种新的水下立体视觉表示方法，包括摄像机自标定、匹配点搜索和目标坐标计算。结果表明，与传统的立体方法相比，该方法具有更好的灵活性和准确性。

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A dynamic vision system for tracking and localization of underwater objects

We describe the development of an underwater cross-range high-accuracy 3D metrology by utilizing a pair of video cameras for underwater vehicle applications. The novelty of the approach lies in (1) a polynomial representation of image non-linear distortion induced by lens system and surrounding water; (2) the transfer of photogrammetric bundle adjustment techniques to underwater ranging; and (3) a new representation of underwater stereo vision including camera self-calibration, match points searching, and computation of the target coordinates. We demonstrate that our method achieves better flexibility and accuracy compared to traditional stereographic methods.

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来源期刊

Proceedings of the 2004 International Symposium on Underwater Technology (IEEE Cat. No.04EX869)

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